Integrating Remote Sensing and Geographic Information Systems

Remote sensing and geographic information systems (GIS) comprise the two major components of geographic information science (GISci), an overarching field of endeavor that also encompasses global positioning systems (GPS) technology, geodesy and traditional cartography (Goodchild 1992, Estes and Star 1993, Hepner et al. 2005). Although remote sensing and GIS developed quasi-independently, the synergism between them has become increasingly apparent (Aronoff 2005). Today, GIS software almost always includes tools for display and analysis of images, and image processing software commonly contains options for analyzing ‘ancillary’ geospatial data (Faust 1998). The significant progress made in ‘integration’ of remote sensing and GIS has been well-summarized in several reviews (Ehlers 1990, Mace 1991, Hinton 1996, Wilkinson 1996). Nevertheless, advances are so rapid that periodic reassessment of the state-of-the-art is clearly warranted

A Multi Views Approach for Remote Sensing Fusion Based on Spectral, Spatial and Temporal Information

The objectives of this chapter are to contribute to the apprehension of image fusion approaches including concepts definition, techniques ethics and results assessment. It is structured in five sections. Following this introduction, a definition of image fusion provides involved fundamental concepts. Respectively, we explain cases in which image fusion might be useful. Most existing techniques and architectures are reviewed and classified in the third section. In fourth section, we focuses heavily on algorithms based on multi-views approach, we compares and analyses the process model and algorithms including advantages, limitations and applicability of each view. The last part of the chapter summarized the benefits and limitations of a multi-view approach image fusion; it gives some recommendations on the effectiveness and the performance of these methods. These recommendations, based on a comprehensive study and meaningful quantitative metrics, evaluate various proposed views by applying them to various environmental applications with different remotely sensed images coming from different sensors. In the concluding section, we fence the chapter with a summary and recommendations for future researches

A review of remotely sensed satellite image classification

Satellite image classification has a vital role for the extraction and analysis of the useful satellite image information. This paper comprises the study of the satellite images classification and Remote Sensing along with a brief overview of the previous studies that are proposed in this field. In this paper, the existing work has been explained utilizing the classification techniques on satellite images of Alwar region in India that covers decent land cover features like Vegetation, Water, Urban, Barren, and Rocky regions. The post- implementation of the classification algorithms, the classified image is obtained displaying different classes that are represented by different colours. Each feature is represented by a different colour and can be easily perceived from the image obtained after classification. The focus of this study is on enhancing the classification accuracy by using proper classifiers along with the novel feature extraction techniques and pre-processing steps. Work of different authors is being discussed in a tabular form defining the methods and outcomes of the respective studies

Percepção do ambiente urbano e navegação usando visão robótica : concepção e implementação aplicado à veículo autônomo

Orientadores: Janito Vaqueiro Ferreira, Alessandro Corrêa VictorinoTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia MecânicaResumo: O desenvolvimento de veículos autônomos capazes de se locomover em ruas urbanas pode proporcionar importantes benefícios na redução de acidentes, no aumentando da qualidade de vida e também na redução de custos. Veículos inteligentes, por exemplo, frequentemente baseiam suas decisões em observações obtidas a partir de vários sensores tais como LIDAR, GPS e câmeras. Atualmente, sensores de câmera têm recebido grande atenção pelo motivo de que eles são de baixo custo, fáceis de utilizar e fornecem dados com rica informação. Ambientes urbanos representam um interessante mas também desafiador cenário neste contexto, onde o traçado das ruas podem ser muito complexos, a presença de objetos tais como árvores, bicicletas, veículos podem gerar observações parciais e também estas observações são muitas vezes ruidosas ou ainda perdidas devido a completas oclusões. Portanto, o processo de percepção por natureza precisa ser capaz de lidar com a incerteza no conhecimento do mundo em torno do veículo. Nesta tese, este problema de percepção é analisado para a condução nos ambientes urbanos associado com a capacidade de realizar um deslocamento seguro baseado no processo de tomada de decisão em navegação autônoma. Projeta-se um sistema de percepção que permita veículos robóticos a trafegar autonomamente nas ruas, sem a necessidade de adaptar a infraestrutura, sem o conhecimento prévio do ambiente e considerando a presença de objetos dinâmicos tais como veículos. Propõe-se um novo método baseado em aprendizado de máquina para extrair o contexto semântico usando um par de imagens estéreo, a qual é vinculada a uma grade de ocupação evidencial que modela as incertezas de um ambiente urbano desconhecido, aplicando a teoria de Dempster-Shafer. Para a tomada de decisão no planejamento do caminho, aplica-se a abordagem dos tentáculos virtuais para gerar possíveis caminhos a partir do centro de referencia do veículo e com base nisto, duas novas estratégias são propostas. Em primeiro, uma nova estratégia para escolher o caminho correto para melhor evitar obstáculos e seguir a tarefa local no contexto da navegação hibrida e, em segundo, um novo controle de malha fechada baseado na odometria visual e o tentáculo virtual é modelado para execução do seguimento de caminho. Finalmente, um completo sistema automotivo integrando os modelos de percepção, planejamento e controle são implementados e validados experimentalmente em condições reais usando um veículo autônomo experimental, onde os resultados mostram que a abordagem desenvolvida realiza com sucesso uma segura navegação local com base em sensores de câmeraAbstract: The development of autonomous vehicles capable of getting around on urban roads can provide important benefits in reducing accidents, in increasing life comfort and also in providing cost savings. Intelligent vehicles for example often base their decisions on observations obtained from various sensors such as LIDAR, GPS and Cameras. Actually, camera sensors have been receiving large attention due to they are cheap, easy to employ and provide rich data information. Inner-city environments represent an interesting but also very challenging scenario in this context, where the road layout may be very complex, the presence of objects such as trees, bicycles, cars might generate partial observations and also these observations are often noisy or even missing due to heavy occlusions. Thus, perception process by nature needs to be able to deal with uncertainties in the knowledge of the world around the car. While highway navigation and autonomous driving using a prior knowledge of the environment have been demonstrating successfully, understanding and navigating general inner-city scenarios with little prior knowledge remains an unsolved problem. In this thesis, this perception problem is analyzed for driving in the inner-city environments associated with the capacity to perform a safe displacement based on decision-making process in autonomous navigation. It is designed a perception system that allows robotic-cars to drive autonomously on roads, without the need to adapt the infrastructure, without requiring previous knowledge of the environment and considering the presence of dynamic objects such as cars. It is proposed a novel method based on machine learning to extract the semantic context using a pair of stereo images, which is merged in an evidential grid to model the uncertainties of an unknown urban environment, applying the Dempster-Shafer theory. To make decisions in path-planning, it is applied the virtual tentacle approach to generate possible paths starting from ego-referenced car and based on it, two news strategies are proposed. First one, a new strategy to select the correct path to better avoid obstacles and to follow the local task in the context of hybrid navigation, and second, a new closed loop control based on visual odometry and virtual tentacle is modeled to path-following execution. Finally, a complete automotive system integrating the perception, path-planning and control modules are implemented and experimentally validated in real situations using an experimental autonomous car, where the results show that the developed approach successfully performs a safe local navigation based on camera sensorsDoutoradoMecanica dos Sólidos e Projeto MecanicoDoutor em Engenharia Mecânic

Exploitation des données cartographiques pour la perception de véhicules intelligents

This thesis is situated in the domains of robotics and data fusion, and concerns geographic information systems. We study the utility of adding digital maps, which model the urban environment in which the vehicle evolves, as a virtual sensor improving the perception results. Indeed, the maps contain a phenomenal quantity of information about the environment : its geometry, topology and additional contextual information. In this work, we extract road surface geometry and building models in order to deduce the context and the characteristics of each detected object. Our method is based on an extension of occupancy grids : the evidential perception grids. It permits to model explicitly the uncertainty related to the map and sensor data. By this means, the approach presents also the advantage of representing homogeneously the data originating from various sources : lidar, camera or maps. The maps are handled on equal terms with the physical sensors. This approach allows us to add geographic information without imputing unduly importance to it, which is essential in presence of errors. In our approach, the information fusion result, stored in a perception grid, is used to predict the stateof environment on the next instant. The fact of estimating the characteristics of dynamic elements does not satisfy the hypothesis of static world. Therefore, it is necessary to adjust the level of certainty attributed to these pieces of information. We do so by applying the temporal discounting. Due to the fact that existing methods are not well suited for this application, we propose a family of discoun toperators that take into account the type of handled information. The studied algorithms have been validated through tests on real data. We have thus developed the prototypes in Matlab and the C++ software based on Pacpus framework. Thanks to them, we present the results of experiments performed in real conditions.La plupart des logiciels contrôlant les véhicules intelligents traite de la compréhension de la scène. De nombreuses méthodes existent actuellement pour percevoir les obstacles de façon automatique. La majorité d’entre elles emploie ainsi les capteurs extéroceptifs comme des caméras ou des lidars. Cette thèse porte sur les domaines de la robotique et de la fusion d’information et s’intéresse aux systèmes d’information géographique. Nous étudions ainsi l’utilité d’ajouter des cartes numériques, qui cartographient le milieu urbain dans lequel évolue le véhicule, en tant que capteur virtuel améliorant les résultats de perception. Les cartes contiennent en effet une quantité phénoménale d’information sur l’environnement : sa géométrie, sa topologie ainsi que d’autres informations contextuelles. Dans nos travaux, nous avons extrait la géométrie des routes et des modèles de bâtiments afin de déduire le contexte et les caractéristiques de chaque objet détecté. Notre méthode se base sur une extension de grilles d’occupations : les grilles de perception crédibilistes. Elle permet de modéliser explicitement les incertitudes liées aux données de cartes et de capteurs. Elle présente également l’avantage de représenter de façon uniforme les données provenant de différentes sources : lidar, caméra ou cartes. Les cartes sont traitées de la même façon que les capteurs physiques. Cette démarche permet d’ajouter les informations géographiques sans pour autant leur donner trop d’importance, ce qui est essentiel en présence d’erreurs. Dans notre approche, le résultat de la fusion d’information contenu dans une grille de perception est utilisé pour prédire l’état de l’environnement à l’instant suivant. Le fait d’estimer les caractéristiques des éléments dynamiques ne satisfait donc plus l’hypothèse du monde statique. Par conséquent, il est nécessaire d’ajuster le niveau de certitude attribué à ces informations. Nous y parvenons en appliquant l’affaiblissement temporel. Étant donné que les méthodes existantes n’étaient pas adaptées à cette application, nous proposons une famille d’opérateurs d’affaiblissement prenant en compte le type d’information traitée. Les algorithmes étudiés ont été validés par des tests sur des données réelles. Nous avons donc développé des prototypes en Matlab et des logiciels en C++ basés sur la plate-forme Pacpus. Grâce à eux nous présentons les résultats des expériences effectués en conditions réelles

An evidential reasoning geospatial approach to transport corridor susceptibility zonation

PhD ThesisGiven the increased hazards faced by transport corridors such as climate induced extreme weather, it is essential that local spatial hot-spots of potential landslide susceptibility can be recognised. Traditionally, geotechnical survey and monitoring approaches have been used to recognise spatially landslide susceptibility zones. The increased availability of affordable very high resolution remotely-sensed datasets, such as airborne laser scanning (ALS) and multispectral aerial imagery, along with improved geospatial digital map data-sets, potentially allows the automated recognition of vulnerable earthwork slopes. However, the challenge remains to develop the analytical framework that allows such data to be integrated in an objective manner to recognise slopes potentially susceptible to failure. In this research, an evidential reasoning multi-source geospatial integration approach for the broad-scale recognition and prediction of landslide susceptibility in transport corridors has been developed. Airborne laser scanning and Ordnance Survey DTM data is used to derive slope stability parameters (slope gradient, aspect, terrain wetness index (TWI), stream power index (SPI) and curvature), while Compact Airborne Spectrographic Imager (CASI) imagery, and existing national scale digital map data-sets are used to characterise the spatial variability of land cover, land use and soil type. A novel approach to characterisation of soil moisture distribution within transport corridors is developed that incorporates the effects of the catchment contribution to local zones of moisture concentration in earthworks. In this approach, the land cover and soil type of the wider catchment are used to estimate the spatial contribution of precipitation contributing to surface runoff, which in turn is used to parameterise a weighted terrain accumulation flow model. The derived topographic and land use properties of the transport corridor are integrated within the evidential reasoning approach to characterise numeric measures of belief, disbelief and uncertainty regarding slope instability spatially within the transport corridor. Evidential reasoning was employed as it offers the ability to derive an objective weighting of the relative importance of each derived property to the final estimation of landslide susceptibility, whilst allowing the uncertainty of the properties to be taken into account. The developed framework was applied to railway transport earthworks located near Haltwhistle in northern England, UK. This section of the Carlisle-Newcastle rail line has a ii history of instability with the occurrence of numerous minor landslides in recent years. Results on spatial distribution of soil moisture indicate considerable contribution of the surrounding wider catchment topography to the localised zones of moisture accumulation. The degrees of belief and disbelief indicated the importance of slope with gradients between 250 to 350 and concave curvature. Permeable soils with variable intercalations accounted for over 80% of slope instability with 5.1% of the earthwork cuttings identified as relatively unstable in contrast to 47.5% for the earthwork embankment. The developed approach was found to have a goodness of fit of 88.5% with respect to the failed slopes used to parametrise the evidential reasoning model and an overall predictive capability of 77.75% based on independent validation dataset.TETFUND Nigeria, Nasarawa State University and my family members for their financial support towards the completion of the PhD programme